mirror/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2024-12-05 01:39:13 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

distCoeffs removed from warpFrame() signature

Browse Source
This commit is contained in:
Rostislav Vasilikhin 2022-06-27 01:23:07 +02:00
parent d56e8f053f
commit 162bd5be4c
2 changed files with 6 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
modules/3d/include/opencv2/3d/depth.hpp
View File

@ -132,12 +132,11 @@ CV_EXPORTS_W void rescaleDepth(InputArray in, int type, OutputArray out, double
* @param mask The mask of used pixels (of CV_8UC1), it can be empty * @param mask The mask of used pixels (of CV_8UC1), it can be empty
* @param Rt The transformation that will be applied to the 3d points computed from the depth * @param Rt The transformation that will be applied to the 3d points computed from the depth
* @param cameraMatrix Camera matrix * @param cameraMatrix Camera matrix
* @param distCoeff Distortion coefficients
* @param warpedImage The warped image. * @param warpedImage The warped image.
* @param warpedDepth The warped depth. * @param warpedDepth The warped depth.
* @param warpedMask The warped mask. * @param warpedMask The warped mask.
*/ */
CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix, InputArray distCoeff, CV_EXPORTS_W void warpFrame(InputArray image, InputArray depth, InputArray mask, InputArray Rt, InputArray cameraMatrix,
OutputArray warpedImage, OutputArray warpedDepth = noArray(), OutputArray warpedMask = noArray()); OutputArray warpedImage, OutputArray warpedDepth = noArray(), OutputArray warpedMask = noArray());
enum RgbdPlaneMethod enum RgbdPlaneMethod

10
modules/3d/src/rgbd/odometry.cpp
View File

@ -365,7 +365,7 @@ bool Odometry::compute(InputArray srcDepthFrame, InputArray srcRGBFrame,
template<class ImageElemType> template<class ImageElemType>
static void static void
warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask, warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
const Mat& Rt, const Mat& cameraMatrix, const Mat& distCoeff, const Mat& Rt, const Mat& cameraMatrix,
OutputArray _warpedImage, OutputArray warpedDepth, OutputArray warpedMask) OutputArray _warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
{ {
//TODO: take into account that image can be empty //TODO: take into account that image can be empty
@ -394,7 +394,7 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
Mat transformedCloud; Mat transformedCloud;
perspectiveTransform(cloud3, transformedCloud, Rt); perspectiveTransform(cloud3, transformedCloud, Rt);
projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix, projectPoints(transformedCloud.reshape(3, 1), Mat::eye(3, 3, CV_64FC1), Mat::zeros(3, 1, CV_64FC1), cameraMatrix,
distCoeff, points2d); Mat::zeros(1, 5, CV_64FC1), points2d);
Mat image = _image.getMat(); Mat image = _image.getMat();
Size sz = _image.size(); Size sz = _image.size();
@ -437,14 +437,14 @@ warpFrameImpl(InputArray _image, InputArray depth, InputArray _mask,
void warpFrame(InputArray image, InputArray depth, InputArray mask, void warpFrame(InputArray image, InputArray depth, InputArray mask,
InputArray Rt, InputArray cameraMatrix, InputArray distCoeff, InputArray Rt, InputArray cameraMatrix,
OutputArray warpedImage, OutputArray warpedDepth, OutputArray warpedMask) OutputArray warpedImage, OutputArray warpedDepth, OutputArray warpedMask)
{ {
if (image.type() == CV_8UC1) if (image.type() == CV_8UC1)
warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(), warpFrameImpl<uchar>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
warpedImage, warpedDepth, warpedMask); warpedImage, warpedDepth, warpedMask);
else if (image.type() == CV_8UC3) else if (image.type() == CV_8UC3)
warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(), distCoeff.getMat(), warpFrameImpl<Point3_<uchar>>(image, depth, mask, Rt.getMat(), cameraMatrix.getMat(),
warpedImage, warpedDepth, warpedMask); warpedImage, warpedDepth, warpedMask);
else else
CV_Error(Error::StsBadArg, "Image has to be type of CV_8UC1 or CV_8UC3"); CV_Error(Error::StsBadArg, "Image has to be type of CV_8UC1 or CV_8UC3");